How to initiate second kiss without asking?

This girl and I met online back in February and have talking on and off since. We are both 19 and recently met for the first and second times. We have both met each other's parents and immediate family, but we are not officially "dating" yet. She was at my house for the day Saturday, and I asked to kiss her when she was about to leave (embarassingly enough, this was my first kiss, and she was aware of this going in). Because I have very little experience, I have no idea how to initiate our second kiss together the next time we see each other without have to ask if I can kiss her.